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Preparation Materials ‐ week 1
francescodelduchetto edited this page Jan 29, 2024
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!! # Run the last command
touch foo.sh
chmod +x !$ # !$ is the last argument of the last command i.e. foo.sh
pwd # Print current directory path
ls # List directories
ls -a|--all # List directories including hidden
ls -l # List directories in long form
ls -l -h|--human-readable # List directories in long form with human readable sizes
ls -t # List directories by modification time, newest first
stat foo.txt # List size, created and modified timestamps for a file
stat foo # List size, created and modified timestamps for a directory
tree # List directory and file tree
tree -a # List directory and file tree including hidden
tree -d # List directory tree
cd foo # Go to foo sub-directory
cd # Go to home directory
cd ~ # Go to home directory
cd - # Go to last directory
mkdir foo # Create a directory
mkdir foo bar # Create multiple directories
cp -r foo bar # Copy directory
mv foo bar # Move directory
rmdir foo # Delete empty directory
rm -r foo # Delete directory including contents
touch foo.txt # Create file or update existing files modified timestamp
touch foo.txt bar.txt # Create multiple files
cp foo.txt bar.txt # Copy file
mv foo.txt bar.txt # Move file
rm foo.txt # Delete file
rm -f foo.txt # Delete file, ignore nonexistent files and never prompt
cat foo.txt # Print all contents
less foo.txt # Print some contents at a time (g - go to top of file, SHIFT+g, go to bottom of file, /foo to search for 'foo')
head foo.txt # Print top 10 lines of file
tail foo.txt # Print bottom 10 lines of file
open foo.txt # Open file in the default editor
wc foo.txt # List number of lines words and characters in the file
apt update # Refreshes repository index
apt search wget # Search for a package
apt show wget # List information about the wget package
apt list --all-versions wget # List all versions of the package
apt install wget # Install the latest version of the wget package
apt install wget=1.2.3 # Install a specific version of the wget package
apt remove wget # Removes the wget package
apt upgrade # Upgrades all upgradable packages
shutdown # Shutdown in 1 minute
shutdown -c # Cancel a shutdown or reboot
reboot # Reboot now
reboot -f # Force a reboot
top # List all processes interactively
htop # List all processes interactively
ps all # List all processes
pidof foo # Return the PID of all foo processes
CTRL+Z # Suspend a process running in the foreground
bg # Resume a suspended process and run in the background
fg # Bring the last background process to the foreground
CTRL+C # Kill a process running in the foreground
kill PID # Shut down process by PID gracefully. Sends TERM signal.
kill -9 PID # Force shut down of process by PID. Sends SIGKILL signal.
if __name__ == '__main__': # Runs main() if file wasn't imported.
main()
<list> = <list>[<slice>] # Or: <list>[from_inclusive : to_exclusive : ±step]
<list>.append(<el>) # Or: <list> += [<el>]
<list>.extend(<collection>) # Or: <list> += <collection>
<list>.sort() # Sorts in ascending order.
<list>.reverse() # Reverses the list in-place.
<list> = sorted(<collection>) # Returns a new sorted list.
<iter> = reversed(<list>) # Returns reversed iterator.
sum_of_elements = sum(<collection>)
elementwise_sum = [sum(pair) for pair in zip(list_a, list_b)]
sorted_by_second = sorted(<collection>, key=lambda el: el[1])
sorted_by_both = sorted(<collection>, key=lambda el: (el[1], el[0]))
flatter_list = list(itertools.chain.from_iterable(<list>))
product_of_elems = functools.reduce(lambda out, el: out * el, <collection>)
list_of_chars = list(<str>)
<list>.insert(<int>, <el>) # Inserts item at index and moves the rest to the right.
<el> = <list>.pop([<int>]) # Removes and returns item at index or from the end.
<int> = <list>.count(<el>) # Returns number of occurrences. Also works on strings.
<int> = <list>.index(<el>) # Returns index of the first occurrence or raises ValueError.
<list>.remove(<el>) # Removes first occurrence of the item or raises ValueError.
<list>.clear() # Removes all items. Also works on dictionary and set.
<view> = <dict>.keys() # Coll. of keys that reflects changes.
<view> = <dict>.values() # Coll. of values that reflects changes.
<view> = <dict>.items() # Coll. of key-value tuples that reflects chgs.
value = <dict>.get(key, default=None) # Returns default if key is missing.
value = <dict>.setdefault(key, default=None) # Returns and writes default if key is missing.
<dict> = collections.defaultdict(<type>) # Returns a dict with default value `<type>()`.
<dict> = collections.defaultdict(lambda: 1) # Returns a dict with default value 1.
<dict> = dict(<collection>) # Creates a dict from coll. of key-value pairs.
<dict> = dict(zip(keys, values)) # Creates a dict from two collections.
<dict> = dict.fromkeys(keys [, value]) # Creates a dict from collection of keys.
<dict>.update(<dict>) # Adds items. Replaces ones with matching keys.
value = <dict>.pop(key) # Removes item or raises KeyError if missing.
{k for k, v in <dict>.items() if v == value} # Returns set of keys that point to the value.
{k: v for k, v in <dict>.items() if k in keys} # Returns a dictionary, filtered by keys.
Tuple is an immutable and hashable list.
<tuple> = () # Empty tuple.
<tuple> = (<el>,) # Or: <el>,
<tuple> = (<el_1>, <el_2> [, ...]) # Or: <el_1>, <el_2> [, ...]
Immutable and hashable sequence of integers.
<range> = range(stop) # range(to_exclusive)
<range> = range(start, stop) # range(from_inclusive, to_exclusive)
<range> = range(start, stop, ±step) # range(from_inclusive, to_exclusive, ±step_size)
>>> [i for i in range(3)]
[0, 1, 2]
for i, el in enumerate(<collection> [, i_start]):
...
- Everything is an object.
- Every object has a type.
- Type and class are synonymous.
<type> = type(<el>) # Or: <el>.__class__
<bool> = isinstance(<el>, <type>) # Or: issubclass(type(<el>), <type>)
>>> type('a'), 'a'.__class__, str
(<class 'str'>, <class 'str'>, <class 'str'>)
Immutable sequence of characters.
<str> = <str>.strip() # Strips all whitespace characters from both ends.
<str> = <str>.strip('<chars>') # Strips passed characters. Also lstrip/rstrip().
<list> = <str>.split() # Splits on one or more whitespace characters.
<list> = <str>.split(sep=None, maxsplit=-1) # Splits on 'sep' str at most 'maxsplit' times.
<list> = <str>.splitlines(keepends=False) # On [\n\r\f\v\x1c-\x1e\x85\u2028\u2029] and \r\n.
<str> = <str>.join(<coll_of_strings>) # Joins elements using string as a separator.
<bool> = <sub_str> in <str> # Checks if string contains the substring.
<bool> = <str>.startswith(<sub_str>) # Pass tuple of strings for multiple options.
<int> = <str>.find(<sub_str>) # Returns start index of the first match or -1.
<int> = <str>.index(<sub_str>) # Same, but raises ValueError if missing.
<int> = int(<float/str/bool>) # Or: math.floor(<float>)
<float> = float(<int/str/bool>) # Or: <int/float>e±<int>
<complex> = complex(real=0, imag=0) # Or: <int/float> ± <int/float>j
<Fraction> = fractions.Fraction(0, 1) # Or: Fraction(numerator=0, denominator=1)
<Decimal> = decimal.Decimal(<str/int>) # Or: Decimal((sign, digits, exponent))
'int(<str>)'
and'float(<str>)'
raise ValueError on malformed strings.- Decimal numbers are stored exactly, unlike most floats where
'1.1 + 2.2 != 3.3'
. - Floats can be compared with:
'math.isclose(<float>, <float>)'
. - Precision of decimal operations is set with:
'decimal.getcontext().prec = <int>'
.
<num> = pow(<num>, <num>) # Or: <num> ** <num>
<num> = abs(<num>) # <float> = abs(<complex>)
<num> = round(<num> [, ±ndigits]) # `round(126, -1) == 130`
from math import e, pi, inf, nan, isinf, isnan # `<el> == nan` is always False.
from math import sin, cos, tan, asin, acos, atan # Also: degrees, radians.
from math import log, log10, log2 # Log can accept base as second arg.
from random import random, randint, choice # Also: shuffle, gauss, triangular, seed.
<float> = random() # A float inside [0, 1).
<int> = randint(from_inc, to_inc) # An int inside [from_inc, to_inc].
<el> = choice(<sequence>) # Keeps the sequence intact.
class <name>:
def __init__(self, a):
self.a = a
def __repr__(self):
class_name = self.__class__.__name__
return f'{class_name}({self.a!r})'
def __str__(self):
return str(self.a)
@classmethod
def get_class_name(cls):
return cls.__name__
- Return value of repr() should be unambiguous and of str() readable.
- If only repr() is defined, it will also be used for str().
- Methods decorated with
'@staticmethod'
do not receive 'self' nor 'cls' as their first arg.
print(<el>)
f'{<el>}'
logging.warning(<el>)
csv.writer(<file>).writerow([<el>])
raise Exception(<el>)
print/str/repr([<el>])
print/str/repr({<el>: <el>})
f'{<el>!r}'
Z = dataclasses.make_dataclass('Z', ['a']); print/str/repr(Z(<el>))
>>> <el>
class <name>:
def __init__(self, a=None):
self.a = a
class Person:
def __init__(self, name):
self.name = name
class Employee(Person):
def __init__(self, name, staff_num):
super().__init__(name)
self.staff_num = staff_num
class A: pass
class B: pass
class C(A, B): pass
Parts for the workshops are extracted, edited from and/or inspired by the following sources.
- Official ROS humble tutorials: https://docs.ros.org/en/humble/Tutorials.html
- Elephant Robotics docs: https://docs.elephantrobotics.com/docs/gitbook-en/